CN109564132A - Imaging method and device - Google Patents
Imaging method and device Download PDFInfo
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- CN109564132A CN109564132A CN201780050294.0A CN201780050294A CN109564132A CN 109564132 A CN109564132 A CN 109564132A CN 201780050294 A CN201780050294 A CN 201780050294A CN 109564132 A CN109564132 A CN 109564132A
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/01—Guiding arrangements therefore
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/353—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/02—Constructional details
- G01J5/08—Optical arrangements
- G01J5/0818—Waveguides
- G01J5/0821—Optical fibres
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K11/00—Measuring temperature based upon physical or chemical changes not covered by groups G01K3/00, G01K5/00, G01K7/00 or G01K9/00
- G01K11/32—Measuring temperature based upon physical or chemical changes not covered by groups G01K3/00, G01K5/00, G01K7/00 or G01K9/00 using changes in transmittance, scattering or luminescence in optical fibres
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N21/4795—Scattering, i.e. diffuse reflection spatially resolved investigating of object in scattering medium
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N21/4795—Scattering, i.e. diffuse reflection spatially resolved investigating of object in scattering medium
- G01N2021/4797—Scattering, i.e. diffuse reflection spatially resolved investigating of object in scattering medium time resolved, e.g. analysis of ballistic photons
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Abstract
A kind of method that determination is at least partially disposed in the position of the optical fiber inside scattering medium, the method includes pulsed light is transferred in scattering medium；It is received in pulsed light by detector and passes through the photon of scattering medium；Selection with some corresponding signals in received photon, wherein it is described select based on received photon arrival time；With the position for determining optical fiber based on selected signal.
Description
Technical field
The present invention relates to for determining the position for being placed on the optical fiber inside scattering medium inside such as human or animal tissues
Method and apparatus.
Background
Endoscope based on optical fiber is increasingly used in that inside of human body is imaged and senses.Although main body endoscope is usual
The specific region of internal organ can be directed to by steering mechanism, narrow fibre opic endoscope can exceed that the range of conventional system, and
It is pushed out and from the service aisle of main body endoscope.It is alternatively possible in the main body endoscope for not using any guiding completely
In the case where be inserted into the endoscope based on narrow optical fiber.
In some cases, can according to the understanding of the insertion to main body endoscope, the feel of clinician, and/or
It is peeped in being estimated based on the visible structure in the visual field of very limited (for example, being less than 1mm) of the endoscopic imaging system of optical fiber
The final position of the end of mirror.In some cases, the position of horseley-Clarke technique estimation fibre opic endoscope end can be used.
X-ray can be used or electromagnetic technique observation may be in the metal end end on the end of endoscope.However, X
Ray or electromagnetic technique may be expensive and/or need high volume settings.In addition, determining the end of endoscope using X-ray
Position patient may be made to be exposed to undesirable radiation.
It summarizes
In the first aspect of the invention, the position that a kind of determination is at least partially disposed in the optical fiber inside scattering medium is provided
The method set, which comprises pulsed light is transferred in scattering medium；It is received in pulsed light and has been passed through by detector
The photon of scattering medium；Selection with institute received photon in some corresponding signals, wherein it is described select be based on received
Photon arrival time；With the position for determining optical fiber based on selected signal.
By being based on arrival time selection signal, it can choose expression and do not undergo scattering or undergo very small amount of scattering
The signal of photon.Compared with the signal for being not based on arrival time selection, such signal can provide the more preferable positioning to optical fiber.
Scattering medium may include the tissue or body fluid of human or animal.
Determine that by the pulsed light of optical fiber, the position of optical fiber can be enabled to without using may make to suffer from by providing
Person or other subjects determine the position of optical fiber in the case where being exposed to the other methods of undesirable radiation.
The position that optical fiber is determined based on selected signal may include that image, and base are formed using selected signal
The position of optical fiber is determined in image.
Position can be automatically determined.It can be with manually identifying position.Image can be handled by using image processing techniques
Determine position.Can have the part of high-intensitive image, such as the pixel of the image with maximum intensity by finding, come true
Positioning is set.
Selection may include selection signal corresponding with trajectory photon (ballistic photon).Trajectory photon can be with
Including the photon of scattering and/or the photon of the very small amount of scattering events of experience are not undergone in scattering medium.Trajectory photon can
To include the first photon of the received pulsed light at detector.Trajectory photon may include in first time storehouse (time bin)
Interior received photon.
Selection may include selection signal corresponding with snakelike photon (snake photon).Snakelike photon may include
Arrival more late than trajectory photon still retains the photon of some location informations.
Pulsed light is transferred in scattering medium can carry out via optical fiber.Detector can be placed on outside scattering medium
Portion.
Optical fiber may be configured to for pulsed light being transferred in scattering medium from the distal tip of optical fiber.If pulsed light is only
From tip transition, it may be considered that the light from end is point light source.Determining position can be based on the light from end is thought
Emit from point light source.
Optical fiber may be configured to for pulsed light being transferred in scattering medium by least part of the side of optical fiber.It is logical
It crosses and transmits pulsed light from the side of optical fiber, can determine the position of the extension of optical fiber, rather than just determining in end
Single point.The anticipated shape of optical fiber is determined for the position of optical fiber.
Pulsed light is transferred in scattering medium can be since being placed on the light source outside scattering medium.Detector can be with
It is coupled to optical fiber.Receiving photon may include receiving the photon for coming into optical fiber.
It may include the position and/or change for changing light source relative to scattering medium that pulsed light, which is transferred in scattering medium,
Incoming position of the pulsed light from light source on scattering medium.It can change the position of detector and/or the incoming position of light
To establish image by scanning light for example on patient on scanning medium.
Optical fiber may be configured so that photon enters the distal tip of optical fiber.Optical fiber may be configured so that photon into
Enter at least part of the side of optical fiber.
The position for determining optical fiber may include that will be applied to image based on the image processing techniques of shape to determine optical fiber
At least part of position of side.
Selection signal may include the signal for the arrival time that selection has lower than threshold value.Selection signal may include selection
Signal with arrival time in the time interval.Selection signal may include the letter selected in one or more time storehouses
Number.
Pulsed light may include laser of narrowband.Pulsed light may include short-pulse laser.Pulsed light may include have it is small
In 1000ps, the pulse for the length for being optionally less than 500ps.
The method can also include using the received photon of filter filters institute.Optical filter may be configured to transmission and exist
Photon under the wavelength of pulsed light.
The method can also include being placed wherein with the irradiation of the light of the wavelength spectrum with the wavelength for not including pulsed light
The environment of scattering medium.By irradiating environment with the light for the wavelength for not including pulsed light, noise can be reduced.Position the side of optical fiber
Method can use in lighting environment (for example, operating room).It can be made with the light irradiation environment for the wavelength for not including pulsed light
Localization method can use during the operation such as surgical operation that strong illumination wherein can be used.
Detector may include detector array.Detector may include scanner detector.Detector may include monochromatic light
Sub- detector.Single photon detector may include at least one SPAD (single photon avalanche diode, monochromatic light
Sub- avalanche diode).Detector may include at least one of the following: APD (avalanche photo diode
Detector, avalanche photodide detector), streak camera, the time-gated enhancing with CCD detector array
Camera (ICCD), photomultiplier tube (PMT), superconducting single-photon detector.
The method can also include being focused on institute's received photon on detector using at least one focus pack.Extremely
A few focus pack may include at least one lens.
Optical fiber can be a part of at least one Medical Instruments.Optical fiber can be put jointly at least one Medical Instruments
It sets.
Medical Instruments may include endoscope, guide line, conduit, catheter delivery system, scalpel, for tissue ablation or
At least one of energy source of transformation.
The method can also include determining Medical Instruments extremely based on at least part of position of identified optical fiber
At least part of position.
Medical Instruments can be at least partially disposed in human or animal's body interior.The position for determining Medical Instruments may include
Determine Medical Instruments in the position of human or animal's body interior.
Automation process can be used, Medical Instruments is placed on human or animal's body interior.Determine the position of Medical Instruments
It may include verifying automation process.
Scattering medium may include the tissue of at least one of the following: lung, upper gastrointestinal tract, lower gastrointestinal tract, urethra,
Bone tissue, organ-tissue.
The method can also include at least part of tissue that human or animal tissues are determined using selected photon
Type.
Determine that at least part of organization type of human or animal tissues can include determining that tissue is health or suffers from
Disease.
It determines that organization type can include determining that the scattering degree of photon corresponding with selected signal, and is based on
Identified scattering degree determines organization type.
In the another aspect of the present invention that can be separately provided, a kind of device is provided, described device includes: optical fiber,
The optical fiber is configured to be at least partially disposed in inside scattering medium；Light-pulse generator, the light-pulse generator are configured to arteries and veins
It washes off and is transferred in scattering medium；Detector, the detector, which is configured to receive, has passed through scattering medium in pulsed light
Photon；And processor, the processor be configured to based on received photon arrival time selection and the received photon of institute
In some corresponding signals, and determine based on selected signal the position of optical fiber.
In the another aspect of the present invention that can be separately provided, a kind of computer program product, the calculating are provided
Machine program product includes computer-readable instruction, and the computer-readable instruction can be executed by processor based on received
The arrival time selection signal corresponding with the received photon of institute of the photon of scattering medium, and base are passed through in pulsed light
The position of optical fiber is determined in selected signal.
It can provide substantially as herein with reference to the method or system described in attached drawing.
Feature in an aspect can be provided appropriately as the feature in any other aspect.For example, method
Feature can be used as device feature provide, vice versa.Any one or more features in an aspect can be with
It combines and provides in the feature that any one or more of any other aspect is suitble to.
It is described in detail
Embodiment of the present invention is described by way of non-limiting example now, and it shows in the following figures
Out, in which:
Fig. 1 is the schematic diagram of optical fiber and detector setting according to an embodiment；
Fig. 2 a is the schematic diagram for indicating to reach the image observed using trajectory photon；
Fig. 2 b is the schematic diagram for indicating to reach the image observed using snakelike photon；
Fig. 2 c is the schematic diagram for indicating to reach the image observed using scattered photon；
Fig. 3 a, 3b and 3c are to determine the fiber position inside scattering medium in the time of 0ns, 2ns and 5.5ns respectively
Experimental result figure；
Fig. 4 is the image of the non-temporal resolution of the light scattered by soliquid；
Fig. 5 by time-resolved and non-temporal resolution Image Rendering distribution map；
Fig. 6 is the distribution map of the scattering point for the light drawn relative to arrival time；
Fig. 7 a is the trajectory photon image of the light scattered by whole chicken；
Fig. 7 b is the image of the non-temporal resolution of the light scattered by whole chicken；
Fig. 8 a is the trajectory photon image of the light scattered by the lung of sheep and thoracic cavity；And
Fig. 8 b is the image of the non-temporal resolution of the light scattered by the lung of sheep and thoracic cavity.
In some cases, it usually can observe that light can pass through tissue.For example, it can be observed that being against hand or finger
On bright white flashlight as the feux rouges in the opposed surface of hand or finger.Embodiment of the present invention use passes through group
The light for knitting (or by any other suitable scattering medium), which determines, is placed on the internal light of the tissue (or other scattering mediums)
Fine position.
Device according to an embodiment is schematically shown in Fig. 1.Described device includes optical fiber 10, light source
14, detector 16, optical filter 17, lens 18 and processor 20.
In the implementation of figure 1, optical fiber 10 is a part of fibre opic endoscope.In other embodiments, can make
With any suitable one or more optical fiber.Fig. 1 shows the optical fiber 10 inside the lung 12 for being placed on patient.In other embodiment party
In case, the different parts (such as gastrointestinal tract or urethra) that optical fiber 10 can be placed on human or animal's body are internal.In other reality
It applies in scheme, optical fiber 10 can be placed on inside any suitable scattering medium.Scattering medium can be, for example, tissue, body
Body or organ.Scattering medium can be gas.Scattering medium can be liquid, such as troubled liquor.Scattering medium can be
Mist.Scattering medium can be referred to as sample, and the end of at least optical fiber is placed on sample interior.
Light source 14 is coupled to the proximal end of optical fiber 10, and is configured to for pulsed light being delivered in optical fiber 10.In this implementation
In scheme, light source 14 is narrowband short-pulse laser.
Detector 16 (it can be referred to as camera) is placed on exterior.Detector 16 is configured to receive photon
And generate electric signal corresponding with each received photon of institute.In the present embodiment, detector 16 be include multiple inspections
Survey the detector array of device element.Detector 16 is time-resolved single photon image system.In this case, time resolution
Single photon image system include SPAD (single-photon avalanche diode) 32 array of 32x.Time-resolved single photon image system
System is run by the single photon counting (TCSPC) of time correlation.In other embodiments, any suitable time can be used
The detector of resolution.Time-resolved detector, which can be, is able to detect the time that low-level light is for example able to detect single photon
The detector of resolution.Time-resolved detector may include APD (avalanche photodide) detector or high-velocity scanning photograph
Machine.Time resolution detector may include the time-gated enhancing camera (ICCD) with CCD detector array.It is time-resolved
Detector may include multiple photomultiplier tubes (PMT) or superconducting single-photon detector.In some embodiments, it can be used
Multiple detectors 16.In some embodiments, single element detector can be applied in combination to generate with optical scanning system
Image.
In the present embodiment, detector 16 is mounted on the arm that any suitable position can be placed on relative to patient body
On (not shown).In other embodiments, any suitable detector 16 can be used to install.For example, detector 16 can be with
It is installed therein on the ceiling in the room to perform the operation, such as on the ceiling of hospital ward or operating room, wherein optical fiber
10 are placed on inside patient.In some embodiments, detector 16 may be mounted at clinician, assistant or other users
Head or body on, to provide intuitive feedback to clinician, assistant or other users.
Lens 18 are placed between detector 16 and patient body.Detector 16 and lens 18 are arranged such that detector
16 focus on a patient body.In other embodiments, alternative focus pack can be used instead of lens 18, or can be with
Without using focus pack.
Optical filter 17 is placed on 16 front of detector.In the present embodiment, optical filter 17 be placed on detector 16 and thoroughly
Between mirror 18.In the present embodiment, optical filter 17 is narrow line passage optical filter.Optical filter 17 is configured to stop any not exist
Photon in the band of laser source 14.In other embodiments, alternative optical filter can be used, or can not use
Optical filter.
Detector 16 is connect with the processor 20 for being configured to the signal that reception and analysis carry out self-detector 16.Processor 20
It may include any suitable processing unit, such as calculate equipment, such as Desktop PC, laptop or mobile device.Although
Detector 16 and processor 20 are individual components in the present embodiment, but can will test device 16 in other embodiments
It is combined in single component with the function of processor 20.The function for being described as being played by detector 16 can be played by processor 20
Can, vice versa.
The operation logic of device shown in Fig. 1 will now be described.Optical fiber 10 is introduced into the lung 12 of patient.In this reality
It applies in scheme, optical fiber 10 is a part of fibre opic endoscope and a part as endoscopic surgery is introduced in patient
Lung 12 in.
Short pulse (in the present embodiment, having < the pulse length of 500ps) laser of narrowband will be injected by light source 14
Into optical fiber 10.In some cases, it may be important for operation using short pulse source.In some cases, may be used
With use it is any have repeat up-front pulsed light.
In the present embodiment, the irradiation power of laser source 14 is several mW.Known mW irradiation power is peace in the tissue
Complete.In other embodiments, different irradiation powers can be used.In the present embodiment, pulse frequency is 20MHz.
Laser is injected into optical fiber 10 within the period that can be several seconds or several minutes.
The wavelength for carefully selecting laser source 14 can provide outstanding performance.The wavelength of laser source 14 can choose as in group
Wavelength with low scattering and absorption in knitting.
In some embodiments that wherein optical fiber 10 is a part of endoscope, the imaging system of endoscope can be used
It is natural irradiation be used as light source.In such embodiments, light source 14 can be phase used in the imaging system of endoscope
Same light source, to irradiate the region of lung 12, to obtain the image in the region of lung 12.
In some embodiments, optical fiber 10 is also by endoscope-use in the optical fiber of imaging.In some such embodiment party
In case, light source 14 is different from light source used in the endoscope for imaging, therefore identical optical fiber 14 and two different light
Source (light source 14 with imaging source) be used together with play two different functions (respectively fiber orientation and lung region at
Picture).
As described above, the pulse frequency of laser in this embodiment is 20MHz, and injects laser and reach
Several seconds or several minutes.Therefore thousands of pulses is used.Each pulse can have the pulse length less than 500ps.Consider that
One traveling in a little pulses.
The pulse of laser emits and passes through the length of optical fiber 10 from light source 14.Optical fiber 10 emits conduct from its distal tip
The laser pulse of a large amount of photons (as shown in Fig. 1 as light 22).It can be by the pulse of light from the distal tip of optical fiber 10
The time of transmitting is appointed as t=0.
In the present embodiment, photon directly emits from the end of optical fiber.It is considered that the end of optical fiber is the point light of light
Source.(see below) in other embodiments, photon can also be from the side-emitteds of optical fiber.
In the present embodiment, photon is orientation from the transmitting of the end of optical fiber, has the vertical of the distal portion as optical fiber
The extended preferred orientations of axis.In other embodiments, the end of optical fiber is adapted to generate more omnidirectional light emitting,
Such as the distal end by the way that the structure of height scattering to be added to optical fiber.In some cases, the knot of such height scattering is added
Structure can increase the amount of the light emitted on the direction to detector 16, and therefore can increase the light detected by detector 16
The amount of son.
As can see when placing bright white light flashlight close to hand or finger, pass through declining for the optical signal of tissue
It may be serious for subtracting, but can (therefore the white light after through tissue less than under lower wavelength under red light wavelength
Seem to redden).
In the present embodiment, it can only be escaped on a small quantity from the photon that the distal tip of optical fiber 10 emits from body.It is many
The photon emitted by optical fiber 10 is absorbed in the tissue.Photon that many is escaped from body (and therefore can pass through detector
16 observe) scattering of the largely unordered institutional framework from body can be undergone.Each photon by tissue spent when
Between can depend on photon scattered how many times when passing through tissue.
The some photons emitted by optical fiber 10 come out through tissue and from body.Go out by tissue and from body
The photon come may include trajectory photon, snakelike photon, and/or height scattered photon.
Trajectory photon can be substantially in the case where no scattering straight line pass through scattering medium photon.It is considered that
Such photon not with the atomic collision of scattering medium.Trajectory photon can be substantially relevant.It is sent out from the end of optical fiber 10
The some photons penetrated are considered trajectory photon, and substantially pass through tissue in the case where no scattering.
In the present embodiment, referred to as the photon of trajectory is scattered to less once in the end of very close optical fiber.System
The geometry of system can produce not by the received true trajectory photon (photon not scattered completely) of detector 16.In other cloth
In setting, it is considered to be the photon of trajectory may include true trajectory photon.
In many embodiments, the temporal resolution of system is unlikely to be able to distinguish true trajectory photon and non-by scattering
Often lack those of number photon.True trajectory photon and the photon of the very small amount of scattering events of experience can be classified as trajectory together
Photon.
Experimentally, the photon of referred to as trajectory, which can be, observes those of arrival photon before other photons.At this
In embodiment, there is no absolute timing to correct.The arrival time of trajectory photon is then limited by observing their arrival.
Trajectory photon can run through tissue and reach detector 16 in time t=X, and wherein it is (logical that light can be used in X
Cross medium) speed and detector 16 at a distance from optical fiber connector determine.It can by the quantity of the received trajectory photon of detector 16
It is exponentially reduced with the thickness of the scattering medium between the end of optical fiber 10 and detector 16.
The photon slightly scattered can be referred to as snakelike photon.Snakelike photon can be a small amount of scattering thing of experience in the tissue
Part (more than those of trajectory photon is represented as) still can still provide those of useful location information photon.It is snakelike
Photon can retain certain degree of coherence.Snakelike photon, which can slightly be late in t=X+ Δ X1 than trajectory photon, to be reached.Snakelike photon can
To run through tissue, but it is rapid unlike trajectory photon.In the present embodiment, photon of the Δ X1 less than 1ns can
To be considered as snakelike photon.In other embodiments, different time ranges can be used and determine which photon is snakelike
Photon.
In practice, it is believed that there is the scattering thing for never undergoing the photon of scattering events to the very more quantity of experience
The continuous scale of the photon of part.The snakelike photon of term be commonly used for referring to be not referred to as trajectory photon but still can be by
Think to provide the photon of relevant location information.
Undergo the photon more scattered that can be referred to as height scattered photon, extreme scattered photon or random scatter light
Son.Height scattered photon can reach after snakelike photon in t=X+ Δ X2.Height scattered photon can be big within the organization
Scale scattering.In the present embodiment, photon of the Δ X2 greater than 1ns is considered as height scattered photon.In the present embodiment
In, height scattered photon can be to provide the photon with the spatial information lower than 2cm resolution ratio.In other embodiments,
Different timing separation trajectory photon, snakelike photon and height scattered photon can be used.Time Δ X1, Δ X2 can highly take
Certainly in experiment.
In some embodiments, can be carried out after receiving all photons which photon be considered as trajectory photon,
Which be considered as snakelike photon and which be considered as height scattered photon determination.Δ X1, Δ X2 can receive light
It is limited after being carried out after subdata.
The photon come out from body may include trajectory photon, snakelike photon and height scattered photon.Go out from body
The some photons come are travelled upwardly in the side of detector 16 and are focused on detector 16 by lens 18.It can be by examining
The narrow line passage optical filter 17 in 16 front of device is surveyed to stop any not photon in the band of laser source 14.Narrowband line passage
Optical filter 17 can reduce noise (for example, undesirable photon from the source in addition to optical fiber 10).Trajectory photon arrives first
It reaches, followed by snakelike photon, followed by height scattered photon.
In practice, the quantity for reaching the photon from each pulse of detector 16 can be very small.Especially, only may be used
To obtain a small amount of trajectory photon and/or snakelike photon from each pulse.For some pulses, coming for detector 16 is reached
It can be zero from the quantity of the photon of the pulse.Therefore, by detector 16 collect the photon from a large amount of pulses and such as with
Lower description summarizes to result.
Each photon detected is converted to electric signal by detector 16.In the present embodiment, when detector 16 passes through
Between relevant single photon counting (TCSPC) with beginning-stop mode operation.Exist between light source 14 and detector 16 and passes through electricity
The synchronization of connection.When laser light source 14 generates light pulse, electric pulse is also sent to detector 16.When detector 16 receives
When electric pulse, start timing.When detector 16 observes photon (for example, the detector element when detector array is observed
When to photon), detector stops timing.The electric signal for indicating the photon detected includes the transmission time and photon for indicating pulse
Reach the arrival time of the difference between the time of detector 16.
In other embodiments, detector 16 starts timing when it detects photon, and next in its reception
Stop timing (reversed beginning-stop mode) when electric pulse.Because the time between pulse be it is known, when can determine arrival
Between.In other embodiments, the method for any suitable determination arrival time can be used.
In the present embodiment, the electric signal for indicating the photon detected further includes position.32 array of 32x which
Or multiple array elements detect photon to determine position.
In other embodiments, can be used the photon that any suitable determination each detects arrival time and/
Or the method for position.The arrival time of each photon and/or position can be by the combinations of any suitable signal or signal come table
Show.
Electric signal is passed to processor 20.Processor 20 collects electric signal in multiple pulses.Processor 20 passes through straight
Square figure combines electric signal.In other embodiments, processor 20 can in any suitable manner combine electric signal.?
In other embodiments, it can combine electric signal in the circuit of detector 16.
It, can be because the arrival time of each photon is the transmission time relative to its corresponding pulses and determination
Result is combined in multiple pulses.For example, all ballistic pulses can be recorded in the case where time t=X, without considering them
From which pulse.In the present embodiment, pulse frequency is 20MHz, and obtains result in a few seconds.In other implementations
In scheme, it can be obtained within any suitable period as a result, for example less than one second, several seconds or up to one minute.It can make
With any suitable pulse frequency.
Processor 20 is recorded in the arrival of the photon in time storehouse, and the time storehouse is the 50ps time in this embodiment
Storehouse.In other embodiments, the size in any suitable time storehouse can be used.
It can produce the image with any interval 50ps.The photon arrival being recorded in the time storehouse 50ps can make it possible to
Enough reached by photon generates video, and storehouse of each 50ps time is corresponding with the frame of the video.
Processor 20 selects its determining arrival time in desired time storehouse (such as in the first time storehouse 50ps)
Electric signal.
In some embodiments, by 20 application time door of processor, and processor 20 selects its determining arrival
Time within the time gate before electric signal.In other embodiments, it by 16 application time door of detector, and detects
Only by its determining arrival time, electric signal is transferred to processor 20 to device 16 those of within time gate.
In some embodiments, time gate includes upper time threshold, and selected signal is that its arrival time is low
In the signal of upper time threshold.In other embodiments, time gate includes both upper time threshold and lower time threshold, and
Selected signal is its arrival time to be higher than lower time threshold and be lower than the signal of upper time threshold.
In the present embodiment, according to arrival time by Modulation recognition into storehouse, and processor 20 or detector 16 select
Select the electric signal with the arrival time fallen in given one or more storehouses.
Processor 20 forms image by selected signal, in this embodiment selected signal be fall in it is selected
The signal in time storehouse selected.In the present embodiment, for each element of detector array 16, image includes a picture
Element.Detector array 16 includes 32 elements of 32x, therefore being formed by image is 32 pixel image of 32x.In the picture every
The intensity of a pixel indicates to have in the arrival time in selected time storehouse, first by respective array during the time storehouse
The quantity of the received photon of part.Each of detector element of detector array can detecte to be had relative to detector array
There is the light of different angle origin.
Fig. 2 a to 2c is to show the image it is expected that observing in the time storehouse of different expression photon arrival times
The schematic diagram of classification.Image superposition is in the diagram of lung 12.Influence of the pixel to image is not shown in Fig. 2 a to 2c.Fig. 2 a to 2c shows
The light for being emitted by the end of optical fiber 10 and being passed through body as the border circular areas 30,32,34 for being gradually increased size is gone out.It can be with
It is noted that in the true picture of people's trunk, it is contemplated that the region of obtained light be not it is circular, because people's trunk tissue not
It is uniform and containing it is possible that some type of group of light is absorbed and/or scattered with the different degree of other types tissue
Knit (for example, bone).
Fig. 2 a shows the image that the trajectory observed in the first time storehouse (for example, the time storehouse 50ps) of t=X reaches
Diagram.Received photon is considered trajectory photon in first time storehouse, i.e., is not scattered or only passed through in the tissue
Go through the photon of considerably less scattering.Trajectory photon is formed in the picture may be considered that the distribution 30 for indicating point light source.
Fig. 2 b shows the image for the photon observed in the time storehouse (for example, the time storehouse 50ps) of t=X+ Δ X1
Diagram.For example, Δ X1 can be 2ns.T=X+ Δ X1 is the time that the snakelike photon slightly scattered reaches.The snake slightly scattered
Shape photon forms the distribution 32 of the point light source 30 greater than Fig. 2 a in the picture.
Fig. 2 c shows the image for the photon observed in the time storehouse (for example, the time storehouse 50ps) of t=X+ Δ X2
Diagram.For example, Δ X2 can be 5ns.T=X+ Δ X2 is the time that extreme scattered photon reaches.Scattered photon shape in the picture
At the also big distribution of the distribution 34 than Fig. 2 c.
In another embodiment, time Δ X1 and Δ X2 is 0.5ns and 1.0ns.It in other embodiments, can be with
Use any suitable time.In some embodiments, in each time storehouse drawing image for wherein receiving photon.
To sum up, the image (Fig. 2 a) obtained by trajectory photon shows the point light source 30 in optical fiber connector.Snakelike light
Sub (Fig. 2 b) shows as the cloud 32 around the position of point light source 30 later arrived at.Other scattered photon (Fig. 2 c) is shown as
Even more dispersed cloud 34 around the position of point light source 30.
In the present embodiment, processor 20 forms two images.For the first image, table is selected using time storehouse
Show the signal of trajectory photon.First image can look like the image of point light source.
Although strictly speaking trajectory photon is the photon absolutely not scattered, trajectory photon in the present embodiment
Type may include the photon with very small amount of scattering.For example, the case where the end of optical fiber 10 is not directed to detector 16
In, the photon for being classified as trajectory can undergo scattering at least once to reach detector.The photon of such very low scattering
Trajectory photon can also be referred to as.
Processor 20 forms the second image, wherein indicating the signal of snakelike photon using the selection of another time storehouse.
In other embodiments, an image is only formed by processor 20.Image can be using only trajectory photon
Image uses the image of both trajectory photon and snakelike photon, or the image using only snakelike photon.
In a further embodiment, data can be collected in all arrival times.It can be in selected arrival time
Form image.The width of selection time gate or the boundary of time gate be can according to need to select trajectory photon and/or snakelike light
The combination of son.The combination of trajectory photon and/or snakelike photon can be such that determining for optical fiber connector position maximizes.In some implementations
In scheme, image can be formed by one or more selected time storehouses.In some embodiments, it can be used given
Received all photons form image before arrival time or between two arrival times.
Processor 20 determines the position of the end of optical fiber 10 by the first image of processing and/or the second image.Because of light
Fibre 10 is a part of endoscope, it is possible to think that the position of the end of optical fiber 10 indicates the position of the distal end of endoscope.Cause
This, processor 20 can determine the position of the distal end of endoscope.
In the present embodiment, (it is indicated by detector array the intensity of the pixel of each image of the utilization of processor 20
The quantity of each received photon of element) automatically determine optical fiber 10 end position.It is expected that indicating terminal position
The intensity of pixel will be above the intensity of surrounding pixel.In other embodiments, any suitable determination end position can be used
The method set.In some embodiments, position is determined by electric signal in the case where not forming image.
In some embodiments, image is shown to user, and user determines the position of optical fiber connector according to image
It sets.In other embodiments, the method for any determination position automatically or semi-automatically can be used.
The position of the end of optical fiber 10 can be provided on the image of optical fiber tissue regions inserted therein.For example, can
To show the image that is obtained by X-ray or CT scan, and the position of identified optical fiber connector can be superimposed upon X-ray or
On CT scan image.In other embodiments, other kinds of medical image can be used, such as obtained by other modes
Image.
In the present embodiment, optical fiber 10 is a part of fibre opic endoscope.By determining the position of the end of optical fiber 10,
Determine the position of fibre opic endoscope.Identified endoscope position or the auxiliary endoscope position obtained from system by user are true
Fixed image can be with the pre-existing image superposition of scattering medium (it is tissue in this case).Pre-existing figure
Picture may include, such as X-ray or other medical scannings.This can enable users to confirm in desired tissue location
Endoscope position.Marker or other methods physically can be used to carry out the alignment of image.
By the plane that the position that trajectory photon or snakelike photon image determine is in the orientation definition by detector array 16
Position in (it can be expressed as x/y plane).In some embodiments, also by using by the received photon of detector 16
Flight time (for example, flight time of trajectory photon) determine position of the optical fiber 10 in z, to determine detector 16 and optical fiber
The distance between 10 end.
In some embodiments, the position of the end of determining optical fiber 10 is repeated at any time.In some such embodiment party
In case, the image of the tissue regions inserted therein of optical fiber 10 can be superimposed with the indicant of the position of the end of optical fiber 10.Position
The indicant set can move at any time.
In some embodiments, the point position of the end of optical fiber 10 is determined, and as the figure in tissue regions
As upper point is shown.In some embodiments, trajectory photon or snakelike photon image can be superimposed upon the image of tissue regions
On.In some such embodiments, single point position not can determine that.
In some embodiments, using more than one detector 16.For example, detector 16 can be relative to wherein placing
The body of optical fiber 10 is placed with different angle.In some such embodiments, it can be used from different detectors 16
As a result the position of optical fiber connector is determined in three dimensions.
In some embodiments, it will test device 16 and be moved to different location relative to body.For example, detector 16 can
To install to arm, and arm can be moved to different location.The different location that detector 16 can be used provides improvement
The positioning of optical fiber connector.The view that different location 16 is avoided specific scattering such as bone can be used.
In the present embodiment, it is therefore an objective to the position of detection fiber end, but (retouched below in other embodiments
State) in, the more parts of optical fiber can be imaged.Trajectory photon image as shown in fig. 2 a can provide optical fiber connector
Exact point light source position.For example, can determine the end of optical fiber with centimetre accuracy.
The image that trajectory photon forms point light source (end of optical fiber) can be used, without considering in point light source and detector
Between scattering medium.In some cases, the low quantity of the trajectory photon as caused by the figure penalties with distance may make multiple
The difficult in imaging of miscellaneous structure.However, in the present embodiment, the end of optical fiber is considered simple light of bright irradiation
Source.
Image (for example, similar to the image of Fig. 2 b) including snakelike photon can be used for obtaining the position of optical fiber connector.
Although more more dispersed than trajectory photon, snakelike photon still can provide the useful spatial information about optical fiber connector position.One
In a little embodiments, snakelike photon and trajectory photon are applied in combination to improve signal strength.There may be more than trajectory photon
Snakelike photon.
In some embodiments, using signal corresponding with snakelike photon to obtain about scattering medium (this
Its in situation is tissue) backscatter mode information.Different organization types can have different backscatter modes.For example, strong
The lung tissue of health can have the backscatter mode different from the lung tissue of illness.The scattering degree that snakelike photon can be used determines
Tissue phenotype.It is, for example, possible to use scattering degree to determine that tissue is health or illness.If it is known that the position of optical fiber connector
It sets, is that healthy or illness information can be related in the intracorporal specific position of body about tissue.For example, implementing at one
In scheme, optical fiber connector is positioned in the image using trajectory photon, and according to the respective image determination for using snakelike photon
Relevant organization type.
Height scattered photon may lose all spatial informations.Using snakelike photon, guarantor can be used
Stay the scattered photon of some spatial informations to imaging of tissue.Height scattered photon may cannot be mentioned by wide tissue regions
For the information about the tissue where endoscope, and snakelike photon can be more directly from the tissue.
In the present embodiment, ignore height scattered photon.Height scattered photon can be passed through time-gated from image
Middle exclusion.In some cases, height scattered photon can be almost without useful spatial information.Under higher Δ X2 value,
Any spatial information possessed by them may be more and more useless.
The method of the present embodiment can provide by via tissue evolution a small amount of photon imaging come optical observation light
The method of fine position (and position of fibre opic endoscope therefore).Using time-resolved photon detection by trajectory photon with
Later arriving at for scattered photon separates.The time-resolved measurement or gate realization pair of the pin-point accuracy of detector 16 can be passed through
The smooth imaging of optical fiber connector position, to abandon dominating the photon of imaging later arrived in the measurement of non-temporal resolution.?
In some cases, the ability that trajectory photon forms image may be crucial for the accurate determination of fibre opic endoscope position
's.Time-gated accuracy can limit the smooth inhibition of non-trajectory photon, and the standard of positioning endoscope tip therefore
True property.
In principle, it is possible to using by tissue enter detector 16 all photons (including trajectory photon, snakelike photon and
Height scattered photon) form image.However, in many cases, it only can be with low-down space point in such image
Resolution positions optical fiber.It the use of the accuracy that the position by the received all photons of detector 16 determines may be low.Pass through
Using only the combination of trajectory photon, snakelike photon or trajectory photon and snakelike photon, can be come with much higher spatial resolution
Position optical fiber.
By using the time-resolved measurement from the received light of optical fiber, the available improvement to fibre opic endoscope position
Understanding.The improved understanding of fibre opic endoscope position may be important in many instances.For example, being observed in determination
Abnormal structure position, such as the abnormal structure observed by endoscopic imaging or the exception collected by biopsy
During the position of tissue, improved endoscope positioning may be important.Improved endoscope is positioned for the more of organ
It may be important for the efficient sampling in a region.It, can be it is easy to ensure that just in the case where improved endoscope positioning
True position is sampled.
In order to carry out accurate imaging, the very sensitive camera of use to endoscope position using trajectory photon or snakelike photon
(detector 16).Camera is able to detect a small amount of photon for leaving tissue, and is actually even lesser amount of trajectory photon.?
It can be when detecting using light laser optical filter will be removed except the photon of the wavelength in addition to target wavelength.
In the present embodiment, using single photon detector array, such as based on those of CMOS SPAD.Space is needed to believe
Breath is to form image.In the present embodiment, the spatial information is provided by detector array.Hit the difference of detector array
The photon of detector element is reached from the different location in space.
However, in other embodiments, using single detector, rather than the array of detector.Single detector can
To be the single-point single photon detector of superior performance.Scanning imaging system can be used and obtain spatial information.
In one embodiment, detector 16 is single detector, and described device further includes scanning system, quilt
It is configured to change over time the position of detector or adjusts lens or imaging system to change the position for collecting light.Position changes
Change can to receive different pulses in different detectors position.The change of lens or imaging system can make, although detection
Device does not move, but it receives light from different location in different time.Later can by the result from different location combine with
Form image.The change of position can be can be suitable with the Pixel Dimensions of detector array or than its smaller little increment.Scanning
Therefore detector can obtain high-definition picture.In other embodiments, any suitable acquisition can be used about inspection
The means of the spatial information of the photon measured.
In the embodiment described above by reference to Fig. 1, light only emits from the end of optical fiber.In other embodiments,
The principle of similitude can be extended into fiber length locations.Used optical fiber can make photon go out from the side-scattered of optical fiber
Come.The optical fiber along its whole length height scattering can be used.The optical fiber of height scattering is now for increase side-scattered light
The purpose of amount and there is (such as Corning Fibrance).
In one embodiment, in addition to the photon scattered from the end of optical fiber, detector 16 also detects the length from optical fiber
Spend the photon (photon come out from the side-emitted of optical fiber) of scattering.Trajectory photon can be used and/or snakelike photon determines
The path of optical fiber in the patient.The path of optical fiber can show as the line of slight bending in the image formed by processor 20.
Come since the signal of the photon of the side-emitted of optical fiber may than come since optical fiber connector emit light signal it is weak
Much.In some embodiments, light source is that there is the existing knowledge of the form of line of slight bending can enable to use
Advanced image processing techniques rebuilds the sharp picture of the position of fiber lengths.For example, image processing techniques may include base
In the optimization that the method and/or constraint curve of probability map (probabilistic atlas) are fitted.
In some embodiments, (position of optical fiber is detected and is used to determine by detector 16 with measurement wavelength
Photon wavelength) different one or more wavelength system of the light irradiation containing Fig. 1 environment.Environment can be wherein
Carry out endoscopic room, such as hospital ward or operating room.
It is expected that the quantity of the photon from optical fiber detected by detector 16 is low.By with not including to optical fiber supply light
The light of the wavelength of laser source irradiates room, can reduce the noise level in institute's Detection wavelength.In some cases, if used
The irradiation of different wave length can not substantially exist measure band in TCSPC in a room other than from those of optical fiber
Photon in (frequency band received by detector).Wavelength using the light source different from for irradiating environment can lead to noise
The reduction of (i.e. the undesirable photon from other sources).
In some embodiments, irradiation environment is by the light from fluorescent lamp.Endoscopy is usually with overhead
It is carried out in the room of fluorescence irradiation.Fluorescent lamp generates the light for being perceived as white but actually including divergent belt.
Light source is chosen so as to the light by optical fiber with the wavelength between the blanking bar for falling in fluorescent lamp in spectral regions.Then exist
TCSPC measurement is carried out between blanking bar in spectral regions.
By using the wavelength of the light source different from for irradiating environment, determine that the position of optical fiber can be in adequate illumination
It carries out, and can not needed in low light or black undercover in room, even if the expected number by the received photon of detector 16
It measures small.In the case where room is operating room or other medical spaces, this can be particularly useful.
In the above-described embodiment, light is from the fibre optical transmission being placed on inside patient body, and by being placed on outside patient
The detector in portion receives.However, there are alternate embodiment, wherein light is by the light source transmitting in patient-external, and by
Optical fiber inside patient receives.
In such embodiment, the light from short-pulse laser source is scanned on the body of patient.For example, can
To scan light on the 2 dimensional region of the trunk of patient.Optical fiber is placed on the intrapulmonary portion of patient.Some light from light source pass through
The tissue of patient, and reached in optical fiber via the end of optical fiber.The case where being configured to the optical fiber via its side-emitted
In, light can also be reached via the side of optical fiber.
Detector is coupled to the proximal end of optical fiber (in the end of patient-external).Detector can be, such as singl e photon detection
Device.The photon reached in optical fiber is detected by detector, and is converted into electric signal.Record their arrival time.May be used also
The position of each photon is determined with the position in photon transmission according to scanning light source.
Signal corresponding with trajectory photon and/or snakelike photon is selected, such as by time-gated or selection at one
Or the signal in multiple time storehouses.Image is formed using selected signal, is used to determine using the light being transferred in optical fiber
The position of optical fiber.In some cases, (i.e. portion in the patient) reception photon can be advantageous in the dark.In some cases
In, by the way that light is transferred to inside from patient-external, rather than by light from patient internal transmission to outside, noise water can be reduced
It is flat.
In embodiments above, it is determined that position of the optical fiber in the lung of human patients.However, it is possible to application can be with
It is much broader.In any suitable medicine or veterinary application, optical fiber can be placed in any human or animal tissues.For example,
Optical fiber can be a part of the endoscope of the lung for being delivered to human or animal subject, upper gastrointestinal tract, lower gastrointestinal tract or urethra.Light
Fibre can be placed on any suitable organ or other organization internals.In other embodiments, optical fiber can be placed on and not wrap
It includes inside the scattering material of human or animal tissues.
In some embodiments, the method for positioning optical fiber using the light from the fibre optical transmission (or receiving by optical fiber)
It can be used for the position of any middle determining Medical Instruments in various medical application.
Determine that the optical fiber of its position can be any suitable Medical Instruments (such as endoscope or catheter delivery system)
A part.In some cases, optical fiber can not be a part of Medical Instruments, but can be total with a part of Medical Instruments
With placement.For example, optical fiber can be placed in the catheter or be placed along guide line.Optical fiber can with it is any can apparatus for placing (such as
Any implantation or the device being otherwise delivered in body) it is associated.By determining the position of optical fiber, doctor can also be determined
Treat the position of instrument.In one embodiment, Medical Instruments includes the energy source for tissue ablation or transformation.
There are the medical applications of the position of many Medical Instruments that can be determined and place in vivo.In any suitable medicine
In, such as in training, endoscopic surgery, bracket are placed or conduit is placed, process as described above can be used.
For example, the method for being determined the position of endoscope using the light of the fibre optical transmission from endoscope is determined in training
The personnel trained whether correct placement endoscope.
In Present clinical practice, the device that duplicate X-ray determination, which can be used, will be placed on body interior (is such as led
Pipe) position.Device can be coated on and be not through in ray material, so that it is visible to X-ray.Duplicate X-ray makes to suffer from
Person is exposed to X-ray radiation.By the way that the position of the method determining device based on light is used instead, radioactive exposure can be reduced.
In some embodiments, it can be superimposed with the radioscopic image of patient using the position of luminous determination.
In some cases, it can be used the real-time video that detector 16 obtains the position of optical fiber, the video can be
The movement of optical fiber is shown when optical fiber moves in patient body.Real-time video can enable to display optical fiber and be located at showing for where
Field monitoring.Real-time video can be obtained in the case where not irradiating to patient.
In some embodiments, in the case where automating surgical operation such as robotic surgical using using from
The method that the light of fibre optical transmission determines position.It is, for example, possible to use the location verifications determined using light outside such as laparoscopy
In the position of the Medical Instruments (such as scalpel) of body interior robot manipulation during section's operation.
The assurance of the operation such as robotic surgery carried out in body can be increased by obtaining position using the light of transmitting.Its
It can be used to confirm that and have arrived at desired position.In the operation for wherein choosing tissue sample, it can be used to ensure that from uncommon
The sample position of prestige chooses sample.In the operation that wherein choose multiple samples, it can be used to ensure that between multiple samples
Every suiting the requirements.
The system for having used Fig. 1 has carried out the first experimental verification, to prove to determine the fiber position inside scattering medium
Experiment of Principle.In the first experimental verification, optical fiber is suspended in milk and (is dispersed in the cream of the liquid butterfat ball in aqueous solution
Change colloid, be known as scattering medium) in.It is imaged using 32x32 array and the unzoned lens arrangement of CMOS SPAD.?
Visual field on each axis is~15cm.
Fig. 3 a to 3c shows the experimental result of the first experimental verification.Image is in the specific time shape reached relative to pulse
At t=0 indicates the arrival time of the first photon of pulse.Fig. 3 a shows the experimental result in the time storehouse of t=0ns.It can be with
Think that Fig. 3 a includes trajectory photon.Fig. 3 b shows the result in the time storehouse of t=2ns.It is considered that Fig. 3 b includes snakelike photon.
Fig. 3 c shows the experimental result in the time storehouse of t=5.5ns.It is considered that Fig. 3 c includes having than those of Fig. 3 a and 3b greatly
Scattering photon.
It can be seen that the bright areas in Fig. 3 a is less than the bright areas in Fig. 3 b, and the bright areas in Fig. 3 b is small
In the bright areas of Fig. 3 c.As expected, compared with those of relatively early arrival photon, the distribution of photons of later arrival is in detector
Bigger area of space on.
Less scattering light is clearly observed into 3c in arrival time early stage arrival imaging detector in Fig. 3 a, and compared with
The later arrival as expected of more scattering light.In order to be compared, Fig. 4 shows the non-of the light scattered by soliquid (milk)
Time-resolved image.The image of non-temporal resolution include all photons (trajectory, it is snakelike and height scatter) and without using appoint
What is time-gated.
Fig. 5 is the distribution map by different images in the form of the scattering point for showing light.Line 40 is non-time-resolved figure
As the distribution map of (Fig. 4).Line 42 is the distribution map of the trajectory photon (Fig. 3 a) early reached.Line 44 is the scattered photon of late arrival
The distribution map of (Fig. 3 c).
Fig. 6 shows the distribution map of the scattering point for the light drawn relative to arrival time.Amplitude is plotted in z-axis, distribution
Figure is drawn on longitudinal axis, and arrival time draws on transverse axis.It can be seen that distribution map becomes larger at any time.
First experimental verification has the visual field for being limited to 15cm, this is according to actual selection.In visual field, non-temporal point
The image (Fig. 4) distinguished shows clear circular pattern, and the determination of light source may be implemented in this.However, Fig. 1 will be will use wherein
System many actual conditions in, it is contemplated that scattering ratio is observed much more complex in the first experimental verification.The complexity of scattering
Property can be attributed to including bone people tissue uneven property.Complicated scattering in human body is less likely leaving body
When generate simple pattern.Therefore, for determining for endoscope position, time-resolved imaging may be important.
In the first experimental verification, the source of light is not actually just in the image (Fig. 4) of non-temporal resolution
The heart because image due to the inceptive impulse in the plane of delineation direction and be biased to.
The scattering density of milk and people's tissue are not compared.For example, although the depth of used milk is about lung
The magnitude of the thickness of tissue in chamber, it is contemplated that the scattering nature of tissue may substantially change.However, using the first experiment
Verify the proof as principle.
Although the first experimental verification confirms the principle of the trajectory photon imaging in simple scattering material, due to including
The different tissue property of the height of bone etc., the endoscope position in live tissue may provide more complicated data.
The second experimental verification is carried out using whole chicken.Fig. 7 a shows the trajectory photon image of the light scattered by whole chicken.?
In the trajectory image of Fig. 7 a, circle 50 concentrates on the position of determining endoscope tip.Fig. 7 b shows the light scattered by whole chicken
Non-temporal resolution image.
Third experimental verification is carried out using the lung of sheep and thoracic cavity.Fig. 8 a show by the lung of sheep and thoracic cavity scattering
The trajectory photon image of light.In the trajectory image of Fig. 8 a, circle 52 concentrates on the position of determining endoscope tip.Fig. 8 b is shown
The image of the non-temporal resolution of the light scattered by the lung of sheep and thoracic cavity.
Second and third experimental verification as a result, it was confirmed that from complex organization (Fig. 7 b and 8b) escape light cannot provide it is clear
Endoscope tip position.Meanwhile in proving early stage these Experiment of Principle, trajectory photon image (Fig. 7 a and 8a) can be with
The endoscope tip position being perfectly clear in cm range is provided.
In the experiment of Fig. 7 a to 8b, discovery has lost a large amount of spatial informations after 1ns.In some cases, snakelike
Photon can be those of arrival photon before 0.5ns.The image of non-temporal resolution can be by institute's having time storehouse to
The image that the photon reached obtains.
In the proof of the Experiment of Principle of Fig. 7 a to 8b, visual field is 15cm.Detector size is 32 pixel spans.Observation
To trajectory photon, and it is positioned to the width less than 2 pixels.It, can be with because each pixel has the width of about 0.5cm
The resolution ratio for thinking trajectory photon image is one centimetre.In some cases, the resolution ratio of detection may by system optics and
The limitation of detector resolution.In some cases, the resolution ratio of detection may be by the statistical limitation of scattering.
It is understood that describing the present invention above only by way of example, and can be within the scope of the invention
Make the modification of details.
Each feature disclosed in specification and (in due course) claims and drawing can be independently or with any
Appropriately combined mode provides.
Claims (33)
1. a kind of method that determination is at least partially disposed in the position of the optical fiber inside scattering medium, which comprises
Pulsed light is transferred in the scattering medium；
The photon for having passed through the scattering medium in the pulsed light is received by detector；
Selection with some corresponding signals in received photon, wherein it is described select based on received photon arrival
Time；With
The position of the optical fiber is determined based on selected signal.
2. according to the method described in claim 1, wherein the scattering medium includes the tissue or body fluid of human or animal.
3. according to claim 1 or method as claimed in claim 2, wherein determining the position of the optical fiber based on selected signal
It sets including using selected signal to form image, and determines the position of the optical fiber based on described image.
4. according to method described in any one preceding claims, wherein the selection includes that selection is corresponding with trajectory photon
Signal.
5. according to method described in any one preceding claims, wherein the selection includes that selection is corresponding with snakelike photon
Signal.
6. according to method described in any one preceding claims, wherein pulsed light is transferred in the scattering medium via institute
Optical fiber progress is stated, and wherein the detector is placed on outside the scattering medium.
7. according to the method described in claim 6, wherein the optical fiber is configured to the pulsed light from the remote of the optical fiber
Hold tip transition into the scattering medium.
8. according to claim 6 or method of claim 7, wherein the optical fiber is configured to pass through the pulsed light
At least part of the side of the optical fiber is transferred in the scattering medium.
9. the method according to any one of claims 1 to 5,
Wherein pulsed light is transferred in the scattering medium since the light source being placed on outside the scattering medium；
Wherein the detector is coupled to the optical fiber；And
Wherein receiving photon includes receiving the photon for coming into the optical fiber.
10. according to the method described in claim 9, being wherein transferred to pulsed light includes changing the light in the scattering medium
Source relative to the scattering medium position and/or change incidence of the pulsed light from the light source on the scattering medium
Position.
11. according to claim 9 or method described in any one of claim 10, wherein the optical fiber is configured so that photon enters institute
State the distal tip of optical fiber.
12. the method according to any one of claim 9 to 11, wherein the optical fiber is configured so that photon enters institute
State at least part of the side of optical fiber.
13. according to method described in the claim 8 or claim 12 of reference claim 3, wherein determining the optical fiber
Position includes that will be applied to described image based on the image processing techniques of shape described in the side of the determination optical fiber
At least part of position.
14. wherein selection signal includes that selection has arriving lower than threshold value according to method described in any one preceding claims
Up to the signal of time.
15. wherein selection signal includes that selection has in the time interval according to method described in any one preceding claims
Arrival time signal.
16. according to method described in any one preceding claims, wherein the pulsed light includes laser of narrowband.
17. the method also includes using filter filters institute received according to method described in any one preceding claims
Photon, wherein the optical filter is configured to transmit the photon under the wavelength of the pulsed light.
18. the method also includes not including the pulsed light with having according to method described in any one preceding claims
The light irradiation of wavelength spectrum of wavelength place the environment of the scattering medium wherein.
19. according to method described in any one preceding claims, wherein the detector includes detector array.
20. according to method described in any one preceding claims, wherein the detector includes scanner detector.
21. according to method described in any one preceding claims, wherein the detector includes single photon detector, optionally its
Described in single photon detector include at least one SPAD (single-photon avalanche diode).
22. the method also includes using at least one focus pack will according to method described in any one preceding claims
The received photon of institute focuses on the detector, and optionally wherein at least one described focus pack includes at least one lens.
23. according to method described in any one preceding claims, wherein the optical fiber is one of at least one Medical Instruments
Divide or is placed jointly at least one Medical Instruments.
24. according to the method for claim 23, wherein the Medical Instruments includes that endoscope, guide line, conduit, conduit are passed
Send system, scalpel, at least one of tissue ablation or the energy source of transformation.
25. the method according to any one of claim 23 or claim 24, the method also includes based on determining
At least part of position of the optical fiber determine at least part of position of the Medical Instruments.
26. according to the method for claim 25, wherein the Medical Instruments is at least partially disposed in human or animal's body
Portion, and determine that the position of the Medical Instruments includes the determining Medical Instruments in the position of human or animal's body interior
It sets.
27. according to the method for claim 26, wherein the Medical Instruments is placed on the people using automation process
Or inside animal bodies, and determine that the position of the Medical Instruments includes verifying the automation process.
28. according to method described in any one preceding claims, wherein the scattering medium include in the following at least
A kind of tissue: lung, upper gastrointestinal tract, lower gastrointestinal tract, urethra, bone tissue, organ-tissue.
29. according to claim 2 or the method according to any one of claim 3 to 28 of reference claim 2, institute
The method of stating further includes that at least part of organization type of human or animal tissues is determined using selected photon.
30. according to the method for claim 29, wherein determining at least part of tissue class of the human or animal tissues
Type includes that the determining tissue is health or illness.
31. the method according to claim 29 or 30, wherein determining that the organization type includes determining and selected letter
The scattering degree of number corresponding photon, and the organization type is determined based on identified scattering degree.
32. a kind of device, described device include:
Optical fiber, the optical fiber are configured to be at least partially disposed in inside scattering medium；
Light-pulse generator, the light-pulse generator are configured to for pulsed light being transferred in the scattering medium；
Detector, the detector are configured to receive the photon for having passed through the scattering medium in the pulsed light；With
Processor, the processor be configured to based on received photon arrival time selection in received photon
Some corresponding signals, and determine based on selected signal the position of the optical fiber.
33. a kind of computer program product, the computer program product includes computer-readable instruction, described computer-readable
Instruction can be executed by processor to be selected based on the arrival time for the photon for having passed through scattering medium in the pulsed light received
Signal corresponding with the received photon of institute, and determine based on selected signal the position of optical fiber.
Applications Claiming Priority (3)
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| GBGB1611819.2A GB201611819D0 (en) | 2016-07-07 | 2016-07-07 | Imaging method and apparatus |
| GB1611819.2 | 2016-07-07 | ||
| PCT/GB2017/052005 WO2018007829A1 (en) | 2016-07-07 | 2017-07-07 | Imaging method and apparatus |
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| EP (1) | EP3482177A1 (en) |
| JP (1) | JP7150694B2 (en) |
| CN (1) | CN109564132A (en) |
| GB (1) | GB201611819D0 (en) |
| WO (1) | WO2018007829A1 (en) |
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| US10420498B1 (en) | 2018-06-20 | 2019-09-24 | Hi Llc | Spatial and temporal-based diffusive correlation spectroscopy systems and methods |
| US11213206B2 (en) | 2018-07-17 | 2022-01-04 | Hi Llc | Non-invasive measurement systems with single-photon counting camera |
| WO2020131148A1 (en) | 2018-12-21 | 2020-06-25 | Hi Llc | Biofeedback for awareness and modulation of mental state using a non-invasive brain interface system and method |
| CA3135228A1 (en) | 2019-05-06 | 2020-11-12 | Hi Llc | Photodetector architectures for time-correlated single photon counting |
| US11081611B2 (en) | 2019-05-21 | 2021-08-03 | Hi Llc | Photodetector architectures for efficient fast-gating comprising a control system controlling a current drawn by an array of photodetectors with a single photon avalanche diode |
| US10868207B1 (en) | 2019-06-06 | 2020-12-15 | Hi Llc | Photodetector systems with low-power time-to-digital converter architectures to determine an arrival time of photon at a photodetector based on event detection time window |
| WO2021167877A1 (en) | 2020-02-21 | 2021-08-26 | Hi Llc | Multimodal wearable measurement systems and methods |
| US11950879B2 (en) | 2020-02-21 | 2024-04-09 | Hi Llc | Estimation of source-detector separation in an optical measurement system |
| US11771362B2 (en) | 2020-02-21 | 2023-10-03 | Hi Llc | Integrated detector assemblies for a wearable module of an optical measurement system |
| US11969259B2 (en) | 2020-02-21 | 2024-04-30 | Hi Llc | Detector assemblies for a wearable module of an optical measurement system and including spring-loaded light-receiving members |
| WO2021167890A1 (en) | 2020-02-21 | 2021-08-26 | Hi Llc | Wearable module assemblies for an optical measurement system |
| US11630310B2 (en) | 2020-02-21 | 2023-04-18 | Hi Llc | Wearable devices and wearable assemblies with adjustable positioning for use in an optical measurement system |
| US11515014B2 (en) | 2020-02-21 | 2022-11-29 | Hi Llc | Methods and systems for initiating and conducting a customized computer-enabled brain research study |
| US11864867B2 (en) | 2020-03-20 | 2024-01-09 | Hi Llc | Control circuit for a light source in an optical measurement system by applying voltage with a first polarity to start an emission of a light pulse and applying voltage with a second polarity to stop the emission of the light pulse |
| US11607132B2 (en) | 2020-03-20 | 2023-03-21 | Hi Llc | Temporal resolution control for temporal point spread function generation in an optical measurement system |
| WO2021188496A1 (en) | 2020-03-20 | 2021-09-23 | Hi Llc | Photodetector calibration of an optical measurement system |
| US11819311B2 (en) | 2020-03-20 | 2023-11-21 | Hi Llc | Maintaining consistent photodetector sensitivity in an optical measurement system |
| US11857348B2 (en) | 2020-03-20 | 2024-01-02 | Hi Llc | Techniques for determining a timing uncertainty of a component of an optical measurement system |
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| US11245404B2 (en) | 2020-03-20 | 2022-02-08 | Hi Llc | Phase lock loop circuit based signal generation in an optical measurement system |
| US11877825B2 (en) | 2020-03-20 | 2024-01-23 | Hi Llc | Device enumeration in an optical measurement system |
| WO2021188486A1 (en) | 2020-03-20 | 2021-09-23 | Hi Llc | Phase lock loop circuit based adjustment of a measurement time window in an optical measurement system |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP7150694B2 (en) | 2022-10-11 |
| WO2018007829A1 (en) | 2018-01-11 |
| EP3482177A1 (en) | 2019-05-15 |
| US20190298158A1 (en) | 2019-10-03 |
| JP2019525801A (en) | 2019-09-12 |
| GB201611819D0 (en) | 2016-08-17 |
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